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<div class="title">CO_NMT_Heartbeat.h</div>  </div>
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<a href="CO__NMT__Heartbeat_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; </div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#ifndef CO_NMT_HEARTBEAT_H</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#define CO_NMT_HEARTBEAT_H</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="CO__driver_8h.html">301/CO_driver.h</a>&quot;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="CO__ODinterface_8h.html">301/CO_ODinterface.h</a>&quot;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="CO__Emergency_8h.html">301/CO_Emergency.h</a>&quot;</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment">/* default configuration, see CO_config.h */</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#ifndef CO_CONFIG_NMT</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#define CO_CONFIG_NMT (0)</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifdef __cplusplus</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span> {</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">   77</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744a52d111d4262b514df4433ae07969cc3c">   79</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744a52d111d4262b514df4433ae07969cc3c">CO_NMT_UNKNOWN</a> = -1,</div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744a672c48c0e9bd5cb070bd86e1dcdc085c">   81</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744a672c48c0e9bd5cb070bd86e1dcdc085c">CO_NMT_INITIALIZING</a> = 0,</div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744ae41d4ebcb7e26e165c8685b5809871a9">   83</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744ae41d4ebcb7e26e165c8685b5809871a9">CO_NMT_PRE_OPERATIONAL</a> = 127,</div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744a3f9d07a10f2781201b85e9de9ba1c9a5">   85</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744a3f9d07a10f2781201b85e9de9ba1c9a5">CO_NMT_OPERATIONAL</a> = 5,</div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744aba34c0b4b2c6a0c11b01236cbe949ed5">   87</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744aba34c0b4b2c6a0c11b01236cbe949ed5">CO_NMT_STOPPED</a> = 4</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;} <a class="code" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#gac396242e2e12ef6b0b22ff48636bc4eb">   94</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4eba6c7cdae79e5939cf321cdf82aa6b4146">   96</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4eba6c7cdae79e5939cf321cdf82aa6b4146">CO_NMT_ENTER_OPERATIONAL</a> = 1,</div>
<div class="line"><a name="l00098"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4eba8a2911a2a576a1bd83b7f4a247cd77c9">   98</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4eba8a2911a2a576a1bd83b7f4a247cd77c9">CO_NMT_ENTER_STOPPED</a> = 2,</div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4eba575ed4f3386e8a63498921e659aa7ba4">  100</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4eba575ed4f3386e8a63498921e659aa7ba4">CO_NMT_ENTER_PRE_OPERATIONAL</a> = 128,</div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4ebaa8558d18a80148a598e6295ef41cdf97">  102</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4ebaa8558d18a80148a598e6295ef41cdf97">CO_NMT_RESET_NODE</a> = 129,</div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4ebabc6aef9d84c816eecaea38f9fe2cbd9c">  104</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4ebabc6aef9d84c816eecaea38f9fe2cbd9c">CO_NMT_RESET_COMMUNICATION</a> = 130</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;} <a class="code" href="group__CO__NMT__Heartbeat.html#gac396242e2e12ef6b0b22ff48636bc4eb">CO_NMT_command_t</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#gaf42f056a571b8e17a2d74428d1a49674">  112</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674a1e75deb437b2e06b2c1f353bf76d8807">  114</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674a1e75deb437b2e06b2c1f353bf76d8807">CO_RESET_NOT</a> = 0,</div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674a2a48dc2be7c9ffa7874eb08a1ba39f6f">  116</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674a2a48dc2be7c9ffa7874eb08a1ba39f6f">CO_RESET_COMM</a> = 1,</div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674a2ab187bf1daccd4bc31685c08ca93bf1">  118</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674a2ab187bf1daccd4bc31685c08ca93bf1">CO_RESET_APP</a> = 2,</div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674ae2c7805e42ce9b7c893018922b24a102">  121</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674ae2c7805e42ce9b7c893018922b24a102">CO_RESET_QUIT</a> = 3</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;} <a class="code" href="group__CO__NMT__Heartbeat.html#gaf42f056a571b8e17a2d74428d1a49674">CO_NMT_reset_cmd_t</a>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#gaf92cf5943801e5dda84654345cc3d67f">  135</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> {</div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faaa5ab06e2047e51ac7d2767e8a821d80">  138</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faaa5ab06e2047e51ac7d2767e8a821d80">CO_NMT_ERR_REG_MASK</a> = 0x00FFU,</div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faf4da9fa5d805e0f535abf95a175312e8">  141</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faf4da9fa5d805e0f535abf95a175312e8">CO_NMT_STARTUP_TO_OPERATIONAL</a> = 0x0100U,</div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faf151918ecf07fc43ba30489d31ca275a">  145</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faf151918ecf07fc43ba30489d31ca275a">CO_NMT_ERR_ON_BUSOFF_HB</a> = 0x1000U,</div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faab1cd82001a087114a5361910e206c74">  149</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faab1cd82001a087114a5361910e206c74">CO_NMT_ERR_ON_ERR_REG</a> = 0x2000U,</div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67fa9498a5af4e0557a2c0284c04b26b3eb5">  152</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67fa9498a5af4e0557a2c0284c04b26b3eb5">CO_NMT_ERR_TO_STOPPED</a> = 0x4000U,</div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67fa6e79d137c725417786035982cd0e2687">  155</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67fa6e79d137c725417786035982cd0e2687">CO_NMT_ERR_FREE_TO_OPERATIONAL</a> = 0x8000U</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;} <a class="code" href="group__CO__NMT__Heartbeat.html#gaf92cf5943801e5dda84654345cc3d67f">CO_NMT_control_t</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html">  162</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span>{</div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#abebf973c819c48fa36c48ba2eb84818a">  164</a></span>&#160;    <a class="code" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> <a class="code" href="structCO__NMT__t.html#abebf973c819c48fa36c48ba2eb84818a">operatingState</a>;</div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#a544df8108d0853dd6d2938fa253ef018">  166</a></span>&#160;    <a class="code" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> <a class="code" href="structCO__NMT__t.html#a544df8108d0853dd6d2938fa253ef018">operatingStatePrev</a>;</div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#a7a56fcf387bd2922ece9106538d986ef">  169</a></span>&#160;    <a class="code" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> <a class="code" href="structCO__NMT__t.html#a7a56fcf387bd2922ece9106538d986ef">internalCommand</a>;</div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#a6cf0441aff58a3e208d1ed221a26709c">  171</a></span>&#160;    <a class="code" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> <a class="code" href="structCO__NMT__t.html#a6cf0441aff58a3e208d1ed221a26709c">nodeId</a>;</div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#a0c28cae6c3c7319c8fdfe694a3b4d9a7">  173</a></span>&#160;    <a class="code" href="group__CO__NMT__Heartbeat.html#gaf92cf5943801e5dda84654345cc3d67f">CO_NMT_control_t</a> <a class="code" href="structCO__NMT__t.html#a0c28cae6c3c7319c8fdfe694a3b4d9a7">NMTcontrol</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#a983a4ba9a004d216e32414c0a38736c4">  175</a></span>&#160;    <a class="code" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> <a class="code" href="structCO__NMT__t.html#a983a4ba9a004d216e32414c0a38736c4">HBproducerTime_us</a>;</div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#a0babc82bd6dfde07511b87167941b4f0">  177</a></span>&#160;    <a class="code" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> <a class="code" href="structCO__NMT__t.html#a0babc82bd6dfde07511b87167941b4f0">HBproducerTimer</a>;</div>
<div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#a60848ed23fb775dc4412be0e7ff9bc4b">  179</a></span>&#160;    <a class="code" href="structCO__EM__t.html">CO_EM_t</a> *<a class="code" href="structCO__NMT__t.html#a60848ed23fb775dc4412be0e7ff9bc4b">em</a>;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="preprocessor">#if ((CO_CONFIG_NMT) &amp; CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN</span></div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#aaa1a7f9278595d82eaddbee8ac434ca9">  182</a></span>&#160;    <a class="code" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *<a class="code" href="structCO__NMT__t.html#aaa1a7f9278595d82eaddbee8ac434ca9">NMT_CANdevTx</a>;</div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#a6c9ca6315daa74257699ff657165d409">  184</a></span>&#160;    <a class="code" href="structCO__CANtx__t.html">CO_CANtx_t</a> *<a class="code" href="structCO__NMT__t.html#a6c9ca6315daa74257699ff657165d409">NMT_TXbuff</a>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#aedcf17c643f41370a978794301f00169">  187</a></span>&#160;    <a class="code" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *<a class="code" href="structCO__NMT__t.html#aedcf17c643f41370a978794301f00169">HB_CANdevTx</a>;</div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#aa9fb1bb36758a1ff27b44c20fd6a0192">  189</a></span>&#160;    <a class="code" href="structCO__CANtx__t.html">CO_CANtx_t</a> *<a class="code" href="structCO__NMT__t.html#aa9fb1bb36758a1ff27b44c20fd6a0192">HB_TXbuff</a>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="preprocessor">#if ((CO_CONFIG_NMT) &amp; CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#a31b37e4e64737bb3ef4331d607adbed6">  192</a></span>&#160;    void (*pFunctSignalPre)(<span class="keywordtype">void</span> *object);</div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#a9ae2c962bc4aaa477555920dc0323302">  194</a></span>&#160;    <span class="keywordtype">void</span> *<a class="code" href="structCO__NMT__t.html#a9ae2c962bc4aaa477555920dc0323302">functSignalObjectPre</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="preprocessor">#if ((CO_CONFIG_NMT) &amp; CO_CONFIG_NMT_CALLBACK_CHANGE) || defined CO_DOXYGEN</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="structCO__NMT__t.html#a64bc9d74c871bf560d8b5db85e4d051e">  198</a></span>&#160;    void (*pFunctNMT)(<a class="code" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> state);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;} <a class="code" href="structCO__NMT__t.html">CO_NMT_t</a>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<a class="code" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> <a class="code" href="group__CO__NMT__Heartbeat.html#ga53c92521fff0fab405f8a372702c7259">CO_NMT_init</a>(<a class="code" href="structCO__NMT__t.html">CO_NMT_t</a> *NMT,</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                             <span class="keyword">const</span> <a class="code" href="structOD__entry__t.html">OD_entry_t</a> *OD_1017_ProducerHbTime,</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                             <a class="code" href="structCO__EM__t.html">CO_EM_t</a> *em,</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;                             <a class="code" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> nodeId,</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;                             <a class="code" href="group__CO__NMT__Heartbeat.html#gaf92cf5943801e5dda84654345cc3d67f">CO_NMT_control_t</a> NMTcontrol,</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;                             <a class="code" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> firstHBTime_ms,</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;                             <a class="code" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *NMT_CANdevRx,</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;                             <a class="code" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> NMT_rxIdx,</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;                             <a class="code" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> CANidRxNMT,</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;#<span class="keywordflow">if</span> ((<a class="code" href="group__CO__STACK__CONFIG__NMT__HB.html#gafa3b1f1b4931175bf9c67a5d45633e76">CO_CONFIG_NMT</a>) &amp; CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;                             <a class="code" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *NMT_CANdevTx,</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;                             <a class="code" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> NMT_txIdx,</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;                             <a class="code" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> CANidTxNMT,</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;#endif</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                             <a class="code" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *HB_CANdevTx,</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;                             <a class="code" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> HB_txIdx,</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;                             <a class="code" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> CANidTxHB);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="preprocessor">#if ((CO_CONFIG_NMT) &amp; CO_CONFIG_FLAG_CALLBACK_PRE) || defined CO_DOXYGEN</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="keywordtype">void</span> <a class="code" href="group__CO__NMT__Heartbeat.html#ga58b6123938e950b5e8c38ec0b9caeec4">CO_NMT_initCallbackPre</a>(<a class="code" href="structCO__NMT__t.html">CO_NMT_t</a> *NMT,</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                            <span class="keywordtype">void</span> *<span class="keywordtype">object</span>,</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                            <span class="keywordtype">void</span> (*pFunctSignal)(<span class="keywordtype">void</span> *<span class="keywordtype">object</span>));</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160; </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="preprocessor">#if ((CO_CONFIG_NMT) &amp; CO_CONFIG_NMT_CALLBACK_CHANGE) || defined CO_DOXYGEN</span></div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="keywordtype">void</span> <a class="code" href="group__CO__NMT__Heartbeat.html#ga87d153e39b32586b67ee6dd47dfce787">CO_NMT_initCallbackChanged</a>(<a class="code" href="structCO__NMT__t.html">CO_NMT_t</a> *NMT,</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                                <span class="keywordtype">void</span> (*pFunctNMT)(<a class="code" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> state));</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;<a class="code" href="group__CO__NMT__Heartbeat.html#gaf42f056a571b8e17a2d74428d1a49674">CO_NMT_reset_cmd_t</a> <a class="code" href="group__CO__NMT__Heartbeat.html#ga724ff5b1d9cfee955914f365514deda0">CO_NMT_process</a>(<a class="code" href="structCO__NMT__t.html">CO_NMT_t</a> *NMT,</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;                                  <a class="code" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> *NMTstate,</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                                  <a class="code" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> timeDifference_us,</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;                                  <a class="code" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> *timerNext_us);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ga2e3f0d579e321d73b53bf469d49b0ce3">  312</a></span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <a class="code" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> <a class="code" href="group__CO__NMT__Heartbeat.html#ga2e3f0d579e321d73b53bf469d49b0ce3">CO_NMT_getInternalState</a>(<a class="code" href="structCO__NMT__t.html">CO_NMT_t</a> *NMT) {</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keywordflow">return</span> (NMT == <a class="code" href="group__CO__dataTypes.html#ga070d2ce7b6bb7e5c05602aa8c308d0c4">NULL</a>) ? <a class="code" href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744a672c48c0e9bd5cb070bd86e1dcdc085c">CO_NMT_INITIALIZING</a> : NMT-&gt;<a class="code" href="structCO__NMT__t.html#abebf973c819c48fa36c48ba2eb84818a">operatingState</a>;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;}</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="group__CO__NMT__Heartbeat.html#ga91b7041eda0487bbc0588d3200e0e868">  326</a></span>&#160;<span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="group__CO__NMT__Heartbeat.html#ga91b7041eda0487bbc0588d3200e0e868">CO_NMT_setInternalState</a>(<a class="code" href="structCO__NMT__t.html">CO_NMT_t</a> *NMT,</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;                                           <a class="code" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> state)</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;{</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="keywordflow">if</span> (NMT != <a class="code" href="group__CO__dataTypes.html#ga070d2ce7b6bb7e5c05602aa8c308d0c4">NULL</a>) NMT-&gt;<a class="code" href="structCO__NMT__t.html#abebf973c819c48fa36c48ba2eb84818a">operatingState</a> = state;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;}</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;<span class="preprocessor">#if ((CO_CONFIG_NMT) &amp; CO_CONFIG_NMT_MASTER) || defined CO_DOXYGEN</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;<a class="code" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a> <a class="code" href="group__CO__NMT__Heartbeat.html#ga9d557708be1bfb9b169718abea90b663">CO_NMT_sendCommand</a>(<a class="code" href="structCO__NMT__t.html">CO_NMT_t</a> *NMT,</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;                                    <a class="code" href="group__CO__NMT__Heartbeat.html#gac396242e2e12ef6b0b22ff48636bc4eb">CO_NMT_command_t</a> command,</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                                    <a class="code" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> nodeID);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* (CO_CONFIG_NMT) &amp; CO_CONFIG_NMT_MASTER */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; <span class="comment">/* CO_NMT_Heartbeat */</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="preprocessor">#ifdef __cplusplus</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;}</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/*__cplusplus*/</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* CO_NMT_HEARTBEAT_H */</span><span class="preprocessor"></span></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggaf42f056a571b8e17a2d74428d1a49674a2ab187bf1daccd4bc31685c08ca93bf1"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674a2ab187bf1daccd4bc31685c08ca93bf1">CO_RESET_APP</a></div><div class="ttdeci">@ CO_RESET_APP</div><div class="ttdoc">2, Application must provide complete device reset</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:118</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_gga1e8c2a6c0fd4a33183503d25a7c6d744ae41d4ebcb7e26e165c8685b5809871a9"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744ae41d4ebcb7e26e165c8685b5809871a9">CO_NMT_PRE_OPERATIONAL</a></div><div class="ttdeci">@ CO_NMT_PRE_OPERATIONAL</div><div class="ttdoc">127, Device is in pre-operational state</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:83</div></div>
<div class="ttc" id="agroup__CO__dataTypes_html_ga33594304e786b158f3fb30289278f5af"><div class="ttname"><a href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a></div><div class="ttdeci">unsigned long int uint32_t</div><div class="ttdoc">UNSIGNED32 in CANopen (0007h), 32-bit unsigned integer.</div><div class="ttdef"><b>Definition:</b> CO_driver.h:155</div></div>
<div class="ttc" id="aCO__driver_8h_html"><div class="ttname"><a href="CO__driver_8h.html">CO_driver.h</a></div><div class="ttdoc">Interface between CAN hardware and CANopenNode.</div></div>
<div class="ttc" id="astructCO__NMT__t_html_a9ae2c962bc4aaa477555920dc0323302"><div class="ttname"><a href="structCO__NMT__t.html#a9ae2c962bc4aaa477555920dc0323302">CO_NMT_t::functSignalObjectPre</a></div><div class="ttdeci">void * functSignalObjectPre</div><div class="ttdoc">From CO_NMT_initCallbackPre() or NULL.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:194</div></div>
<div class="ttc" id="astructCO__NMT__t_html_a983a4ba9a004d216e32414c0a38736c4"><div class="ttname"><a href="structCO__NMT__t.html#a983a4ba9a004d216e32414c0a38736c4">CO_NMT_t::HBproducerTime_us</a></div><div class="ttdeci">uint32_t HBproducerTime_us</div><div class="ttdoc">Producer heartbeat time, calculated from OD 0x1017.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:175</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ga53c92521fff0fab405f8a372702c7259"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ga53c92521fff0fab405f8a372702c7259">CO_NMT_init</a></div><div class="ttdeci">CO_ReturnError_t CO_NMT_init(CO_NMT_t *NMT, const OD_entry_t *OD_1017_ProducerHbTime, CO_EM_t *em, uint8_t nodeId, CO_NMT_control_t NMTcontrol, uint16_t firstHBTime_ms, CO_CANmodule_t *NMT_CANdevRx, uint16_t NMT_rxIdx, uint16_t CANidRxNMT, CO_CANmodule_t *NMT_CANdevTx, uint16_t NMT_txIdx, uint16_t CANidTxNMT, CO_CANmodule_t *HB_CANdevTx, uint16_t HB_txIdx, uint16_t CANidTxHB)</div><div class="ttdoc">Initialize NMT and Heartbeat producer object.</div></div>
<div class="ttc" id="agroup__CO__STACK__CONFIG__NMT__HB_html_gafa3b1f1b4931175bf9c67a5d45633e76"><div class="ttname"><a href="group__CO__STACK__CONFIG__NMT__HB.html#gafa3b1f1b4931175bf9c67a5d45633e76">CO_CONFIG_NMT</a></div><div class="ttdeci">#define CO_CONFIG_NMT</div><div class="ttdoc">Configuration of NMT and Heartbeat.</div><div class="ttdef"><b>Definition:</b> CO_config.h:123</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ga91b7041eda0487bbc0588d3200e0e868"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ga91b7041eda0487bbc0588d3200e0e868">CO_NMT_setInternalState</a></div><div class="ttdeci">static void CO_NMT_setInternalState(CO_NMT_t *NMT, CO_NMT_internalState_t state)</div><div class="ttdoc">Set internal NMT state.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:326</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggaf42f056a571b8e17a2d74428d1a49674ae2c7805e42ce9b7c893018922b24a102"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674ae2c7805e42ce9b7c893018922b24a102">CO_RESET_QUIT</a></div><div class="ttdeci">@ CO_RESET_QUIT</div><div class="ttdoc">3, Application must quit, no reset of microcontroller (command is not requested by the stack....</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:121</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_gga1e8c2a6c0fd4a33183503d25a7c6d744a672c48c0e9bd5cb070bd86e1dcdc085c"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744a672c48c0e9bd5cb070bd86e1dcdc085c">CO_NMT_INITIALIZING</a></div><div class="ttdeci">@ CO_NMT_INITIALIZING</div><div class="ttdoc">0, Device is initializing</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:81</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ga9d557708be1bfb9b169718abea90b663"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ga9d557708be1bfb9b169718abea90b663">CO_NMT_sendCommand</a></div><div class="ttdeci">CO_ReturnError_t CO_NMT_sendCommand(CO_NMT_t *NMT, CO_NMT_command_t command, uint8_t nodeID)</div><div class="ttdoc">Send NMT master command.</div></div>
<div class="ttc" id="agroup__CO__dataTypes_html_ga1f1825b69244eb3ad2c7165ddc99c956"><div class="ttname"><a href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a></div><div class="ttdeci">unsigned int uint16_t</div><div class="ttdoc">UNSIGNED16 in CANopen (0006h), 16-bit unsigned integer.</div><div class="ttdef"><b>Definition:</b> CO_driver.h:153</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggac396242e2e12ef6b0b22ff48636bc4ebaa8558d18a80148a598e6295ef41cdf97"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4ebaa8558d18a80148a598e6295ef41cdf97">CO_NMT_RESET_NODE</a></div><div class="ttdeci">@ CO_NMT_RESET_NODE</div><div class="ttdoc">129, Reset device</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:102</div></div>
<div class="ttc" id="agroup__CO__driver_html_ga1cb2d3466eb0c6d267f3b5ff1a0d9532"><div class="ttname"><a href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a></div><div class="ttdeci">CO_ReturnError_t</div><div class="ttdoc">Return values of some CANopen functions.</div><div class="ttdef"><b>Definition:</b> CO_driver.h:488</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ga2e3f0d579e321d73b53bf469d49b0ce3"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ga2e3f0d579e321d73b53bf469d49b0ce3">CO_NMT_getInternalState</a></div><div class="ttdeci">static CO_NMT_internalState_t CO_NMT_getInternalState(CO_NMT_t *NMT)</div><div class="ttdoc">Query current NMT state.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:312</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ga724ff5b1d9cfee955914f365514deda0"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ga724ff5b1d9cfee955914f365514deda0">CO_NMT_process</a></div><div class="ttdeci">CO_NMT_reset_cmd_t CO_NMT_process(CO_NMT_t *NMT, CO_NMT_internalState_t *NMTstate, uint32_t timeDifference_us, uint32_t *timerNext_us)</div><div class="ttdoc">Process received NMT and produce Heartbeat messages.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.c:222</div></div>
<div class="ttc" id="astructCO__NMT__t_html_a0babc82bd6dfde07511b87167941b4f0"><div class="ttname"><a href="structCO__NMT__t.html#a0babc82bd6dfde07511b87167941b4f0">CO_NMT_t::HBproducerTimer</a></div><div class="ttdeci">uint32_t HBproducerTimer</div><div class="ttdoc">Internal timer for HB producer.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:177</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_gaf42f056a571b8e17a2d74428d1a49674"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#gaf42f056a571b8e17a2d74428d1a49674">CO_NMT_reset_cmd_t</a></div><div class="ttdeci">CO_NMT_reset_cmd_t</div><div class="ttdoc">Return code from CO_NMT_process() that tells application code what to reset.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:112</div></div>
<div class="ttc" id="astructCO__NMT__t_html_a7a56fcf387bd2922ece9106538d986ef"><div class="ttname"><a href="structCO__NMT__t.html#a7a56fcf387bd2922ece9106538d986ef">CO_NMT_t::internalCommand</a></div><div class="ttdeci">uint8_t internalCommand</div><div class="ttdoc">NMT internal command from CO_NMT_receive() or CO_NMT_sendCommand(), processed in CO_NMT_process().</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:169</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggaf92cf5943801e5dda84654345cc3d67faf4da9fa5d805e0f535abf95a175312e8"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faf4da9fa5d805e0f535abf95a175312e8">CO_NMT_STARTUP_TO_OPERATIONAL</a></div><div class="ttdeci">@ CO_NMT_STARTUP_TO_OPERATIONAL</div><div class="ttdoc">If bit is set, then device enters NMT operational state after the initialization phase,...</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:141</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ga58b6123938e950b5e8c38ec0b9caeec4"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ga58b6123938e950b5e8c38ec0b9caeec4">CO_NMT_initCallbackPre</a></div><div class="ttdeci">void CO_NMT_initCallbackPre(CO_NMT_t *NMT, void *object, void(*pFunctSignal)(void *object))</div><div class="ttdoc">Initialize NMT callback function after message preprocessed.</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggaf92cf5943801e5dda84654345cc3d67fa9498a5af4e0557a2c0284c04b26b3eb5"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67fa9498a5af4e0557a2c0284c04b26b3eb5">CO_NMT_ERR_TO_STOPPED</a></div><div class="ttdeci">@ CO_NMT_ERR_TO_STOPPED</div><div class="ttdoc">If bit is set and CO_NMT_ERR_ON_xx condition is met, then device will enter NMT stopped state,...</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:152</div></div>
<div class="ttc" id="astructCO__NMT__t_html"><div class="ttname"><a href="structCO__NMT__t.html">CO_NMT_t</a></div><div class="ttdoc">NMT consumer and Heartbeat producer object.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:162</div></div>
<div class="ttc" id="astructCO__NMT__t_html_aa9fb1bb36758a1ff27b44c20fd6a0192"><div class="ttname"><a href="structCO__NMT__t.html#aa9fb1bb36758a1ff27b44c20fd6a0192">CO_NMT_t::HB_TXbuff</a></div><div class="ttdeci">CO_CANtx_t * HB_TXbuff</div><div class="ttdoc">CAN transmit buffer for heartbeat message.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:189</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggaf92cf5943801e5dda84654345cc3d67fa6e79d137c725417786035982cd0e2687"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67fa6e79d137c725417786035982cd0e2687">CO_NMT_ERR_FREE_TO_OPERATIONAL</a></div><div class="ttdeci">@ CO_NMT_ERR_FREE_TO_OPERATIONAL</div><div class="ttdoc">If bit is set and device is pre-operational, it enters NMT operational state automatically,...</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:155</div></div>
<div class="ttc" id="astructCO__NMT__t_html_a6c9ca6315daa74257699ff657165d409"><div class="ttname"><a href="structCO__NMT__t.html#a6c9ca6315daa74257699ff657165d409">CO_NMT_t::NMT_TXbuff</a></div><div class="ttdeci">CO_CANtx_t * NMT_TXbuff</div><div class="ttdoc">CAN transmit buffer for NMT master message.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:184</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggaf42f056a571b8e17a2d74428d1a49674a2a48dc2be7c9ffa7874eb08a1ba39f6f"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674a2a48dc2be7c9ffa7874eb08a1ba39f6f">CO_RESET_COMM</a></div><div class="ttdeci">@ CO_RESET_COMM</div><div class="ttdoc">1, Application must provide communication reset.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:116</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggaf92cf5943801e5dda84654345cc3d67faaa5ab06e2047e51ac7d2767e8a821d80"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faaa5ab06e2047e51ac7d2767e8a821d80">CO_NMT_ERR_REG_MASK</a></div><div class="ttdeci">@ CO_NMT_ERR_REG_MASK</div><div class="ttdoc">First 8 bits can be used to specify bitmask for the CO_errorRegister_t, to get relevant bits for the ...</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:138</div></div>
<div class="ttc" id="astructCO__NMT__t_html_aedcf17c643f41370a978794301f00169"><div class="ttname"><a href="structCO__NMT__t.html#aedcf17c643f41370a978794301f00169">CO_NMT_t::HB_CANdevTx</a></div><div class="ttdeci">CO_CANmodule_t * HB_CANdevTx</div><div class="ttdoc">From CO_NMT_init()</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:187</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggac396242e2e12ef6b0b22ff48636bc4eba8a2911a2a576a1bd83b7f4a247cd77c9"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4eba8a2911a2a576a1bd83b7f4a247cd77c9">CO_NMT_ENTER_STOPPED</a></div><div class="ttdeci">@ CO_NMT_ENTER_STOPPED</div><div class="ttdoc">2, Stop device</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:98</div></div>
<div class="ttc" id="astructCO__NMT__t_html_a60848ed23fb775dc4412be0e7ff9bc4b"><div class="ttname"><a href="structCO__NMT__t.html#a60848ed23fb775dc4412be0e7ff9bc4b">CO_NMT_t::em</a></div><div class="ttdeci">CO_EM_t * em</div><div class="ttdoc">From CO_NMT_init()</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:179</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_gga1e8c2a6c0fd4a33183503d25a7c6d744a3f9d07a10f2781201b85e9de9ba1c9a5"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744a3f9d07a10f2781201b85e9de9ba1c9a5">CO_NMT_OPERATIONAL</a></div><div class="ttdeci">@ CO_NMT_OPERATIONAL</div><div class="ttdoc">5, Device is in operational state</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:85</div></div>
<div class="ttc" id="astructCO__NMT__t_html_a544df8108d0853dd6d2938fa253ef018"><div class="ttname"><a href="structCO__NMT__t.html#a544df8108d0853dd6d2938fa253ef018">CO_NMT_t::operatingStatePrev</a></div><div class="ttdeci">uint8_t operatingStatePrev</div><div class="ttdoc">Previous NMT operating state.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:166</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_gac396242e2e12ef6b0b22ff48636bc4eb"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#gac396242e2e12ef6b0b22ff48636bc4eb">CO_NMT_command_t</a></div><div class="ttdeci">CO_NMT_command_t</div><div class="ttdoc">Commands from NMT master.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:94</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_gga1e8c2a6c0fd4a33183503d25a7c6d744a52d111d4262b514df4433ae07969cc3c"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744a52d111d4262b514df4433ae07969cc3c">CO_NMT_UNKNOWN</a></div><div class="ttdeci">@ CO_NMT_UNKNOWN</div><div class="ttdoc">-1, Device state is unknown (for heartbeat consumer)</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:79</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggaf92cf5943801e5dda84654345cc3d67faab1cd82001a087114a5361910e206c74"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faab1cd82001a087114a5361910e206c74">CO_NMT_ERR_ON_ERR_REG</a></div><div class="ttdeci">@ CO_NMT_ERR_ON_ERR_REG</div><div class="ttdoc">If bit is set and device is operational, it enters NMT pre-operational or stopped state,...</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:149</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggaf42f056a571b8e17a2d74428d1a49674a1e75deb437b2e06b2c1f353bf76d8807"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggaf42f056a571b8e17a2d74428d1a49674a1e75deb437b2e06b2c1f353bf76d8807">CO_RESET_NOT</a></div><div class="ttdeci">@ CO_RESET_NOT</div><div class="ttdoc">0, Normal return, no action</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:114</div></div>
<div class="ttc" id="astructCO__NMT__t_html_aaa1a7f9278595d82eaddbee8ac434ca9"><div class="ttname"><a href="structCO__NMT__t.html#aaa1a7f9278595d82eaddbee8ac434ca9">CO_NMT_t::NMT_CANdevTx</a></div><div class="ttdeci">CO_CANmodule_t * NMT_CANdevTx</div><div class="ttdoc">From CO_NMT_init()</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:182</div></div>
<div class="ttc" id="astructCO__EM__t_html"><div class="ttname"><a href="structCO__EM__t.html">CO_EM_t</a></div><div class="ttdoc">Emergency object.</div><div class="ttdef"><b>Definition:</b> CO_Emergency.h:369</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ga1e8c2a6c0fd4a33183503d25a7c6d744"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a></div><div class="ttdeci">CO_NMT_internalState_t</div><div class="ttdoc">Internal network state of the CANopen node.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:77</div></div>
<div class="ttc" id="aCO__ODinterface_8h_html"><div class="ttname"><a href="CO__ODinterface_8h.html">CO_ODinterface.h</a></div><div class="ttdoc">CANopen Object Dictionary interface.</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ga87d153e39b32586b67ee6dd47dfce787"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ga87d153e39b32586b67ee6dd47dfce787">CO_NMT_initCallbackChanged</a></div><div class="ttdeci">void CO_NMT_initCallbackChanged(CO_NMT_t *NMT, void(*pFunctNMT)(CO_NMT_internalState_t state))</div><div class="ttdoc">Initialize NMT callback function.</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_gga1e8c2a6c0fd4a33183503d25a7c6d744aba34c0b4b2c6a0c11b01236cbe949ed5"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#gga1e8c2a6c0fd4a33183503d25a7c6d744aba34c0b4b2c6a0c11b01236cbe949ed5">CO_NMT_STOPPED</a></div><div class="ttdeci">@ CO_NMT_STOPPED</div><div class="ttdoc">4, Device is stopped</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:87</div></div>
<div class="ttc" id="aCO__Emergency_8h_html"><div class="ttname"><a href="CO__Emergency_8h.html">CO_Emergency.h</a></div><div class="ttdoc">CANopen Emergency protocol.</div></div>
<div class="ttc" id="astructCO__NMT__t_html_abebf973c819c48fa36c48ba2eb84818a"><div class="ttname"><a href="structCO__NMT__t.html#abebf973c819c48fa36c48ba2eb84818a">CO_NMT_t::operatingState</a></div><div class="ttdeci">uint8_t operatingState</div><div class="ttdoc">Current NMT operating state.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:164</div></div>
<div class="ttc" id="agroup__CO__dataTypes_html_ga070d2ce7b6bb7e5c05602aa8c308d0c4"><div class="ttname"><a href="group__CO__dataTypes.html#ga070d2ce7b6bb7e5c05602aa8c308d0c4">NULL</a></div><div class="ttdeci">#define NULL</div><div class="ttdoc">NULL, for general usage.</div><div class="ttdef"><b>Definition:</b> CO_driver.h:135</div></div>
<div class="ttc" id="astructCO__CANmodule__t_html"><div class="ttname"><a href="structCO__CANmodule__t.html">CO_CANmodule_t</a></div><div class="ttdoc">Complete CAN module object.</div><div class="ttdef"><b>Definition:</b> CO_driver.h:319</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggac396242e2e12ef6b0b22ff48636bc4eba575ed4f3386e8a63498921e659aa7ba4"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4eba575ed4f3386e8a63498921e659aa7ba4">CO_NMT_ENTER_PRE_OPERATIONAL</a></div><div class="ttdeci">@ CO_NMT_ENTER_PRE_OPERATIONAL</div><div class="ttdoc">128, Put device into pre-operational</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:100</div></div>
<div class="ttc" id="astructCO__NMT__t_html_a0c28cae6c3c7319c8fdfe694a3b4d9a7"><div class="ttname"><a href="structCO__NMT__t.html#a0c28cae6c3c7319c8fdfe694a3b4d9a7">CO_NMT_t::NMTcontrol</a></div><div class="ttdeci">CO_NMT_control_t NMTcontrol</div><div class="ttdoc">From CO_NMT_init()</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:173</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggac396242e2e12ef6b0b22ff48636bc4eba6c7cdae79e5939cf321cdf82aa6b4146"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4eba6c7cdae79e5939cf321cdf82aa6b4146">CO_NMT_ENTER_OPERATIONAL</a></div><div class="ttdeci">@ CO_NMT_ENTER_OPERATIONAL</div><div class="ttdoc">1, Start device</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:96</div></div>
<div class="ttc" id="astructOD__entry__t_html"><div class="ttname"><a href="structOD__entry__t.html">OD_entry_t</a></div><div class="ttdoc">Object Dictionary entry for one OD object.</div><div class="ttdef"><b>Definition:</b> CO_ODinterface.h:336</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_gaf92cf5943801e5dda84654345cc3d67f"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#gaf92cf5943801e5dda84654345cc3d67f">CO_NMT_control_t</a></div><div class="ttdeci">CO_NMT_control_t</div><div class="ttdoc">NMT control bitfield for NMT internal state.</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:135</div></div>
<div class="ttc" id="astructCO__NMT__t_html_a6cf0441aff58a3e208d1ed221a26709c"><div class="ttname"><a href="structCO__NMT__t.html#a6cf0441aff58a3e208d1ed221a26709c">CO_NMT_t::nodeId</a></div><div class="ttdeci">uint8_t nodeId</div><div class="ttdoc">From CO_NMT_init()</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:171</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggaf92cf5943801e5dda84654345cc3d67faf151918ecf07fc43ba30489d31ca275a"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggaf92cf5943801e5dda84654345cc3d67faf151918ecf07fc43ba30489d31ca275a">CO_NMT_ERR_ON_BUSOFF_HB</a></div><div class="ttdeci">@ CO_NMT_ERR_ON_BUSOFF_HB</div><div class="ttdoc">If bit is set and device is operational, it enters NMT pre-operational or stopped state,...</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:145</div></div>
<div class="ttc" id="agroup__CO__NMT__Heartbeat_html_ggac396242e2e12ef6b0b22ff48636bc4ebabc6aef9d84c816eecaea38f9fe2cbd9c"><div class="ttname"><a href="group__CO__NMT__Heartbeat.html#ggac396242e2e12ef6b0b22ff48636bc4ebabc6aef9d84c816eecaea38f9fe2cbd9c">CO_NMT_RESET_COMMUNICATION</a></div><div class="ttdeci">@ CO_NMT_RESET_COMMUNICATION</div><div class="ttdoc">130, Reset CANopen communication on device</div><div class="ttdef"><b>Definition:</b> CO_NMT_Heartbeat.h:104</div></div>
<div class="ttc" id="astructCO__CANtx__t_html"><div class="ttname"><a href="structCO__CANtx__t.html">CO_CANtx_t</a></div><div class="ttdoc">Configuration object for CAN transmit message for specific CANopenNode Object.</div><div class="ttdef"><b>Definition:</b> CO_driver.h:299</div></div>
<div class="ttc" id="agroup__CO__dataTypes_html_gaba7bc1797add20fe3efdf37ced1182c5"><div class="ttname"><a href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a></div><div class="ttdeci">unsigned char uint8_t</div><div class="ttdoc">UNSIGNED8 in CANopen (0005h), 8-bit unsigned integer.</div><div class="ttdef"><b>Definition:</b> CO_driver.h:151</div></div>
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